PID Tuning - TrinityTrihawks/2017 GitHub Wiki

How to tune numbers:

K’=(K/2)(1+sqrt(1-(4Td/Ti))

Ti’=(Ti/2)(1+sqrt(1-(4Td/Ti))

Td’=(Td/2)(1+sqrt(1-(4Td/Ti))

Numbers obtained last time:
(.6 .5 .125)

		    (.33 .5 .33)  

		    (.2 .5 .333) (worked best with last robot)  

These will probably need to be tested and tweaked, and these are for three different types of turning, found by Ziegler-Nichols tuning method.